NDLI: Synthesis of multiple degrees-of-freedom spatial-motion compliant parallel mechanisms with desired stiffness and dynamics characteristics

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Synthesis of multiple degrees-of-freedom spatial-motion compliant parallel mechanisms with desired stiffness and dynamics characteristics

Content Provider	Semantic Scholar
Author	Pham, Minh Tuan Yeo, Song Huat
Copyright Year	2017
Abstract	Abstract This paper presents a new design method to synthesize multiple degrees-of-freedom (DOF) spatial-motion compliant parallel mechanisms (CPMs). Termed as the beam-based structural optimization approach, a novel curved-and-twisted (C-T) beam configuration is used as the basic design module to optimize the design parameters of the CPMs so as to achieve the targeted stiffness and dynamic characteristics. To derive well-defined fitness (objective) functions for the optimization algorithm, a new analytical approach is introduced to normalize the differences in the units, e.g., N/m or N m/rad, etc., for every component within the stiffness matrix. To evaluate the effectiveness of this design method, it was used to synthesize a 3-DOF spatial-motion (θx − θy − Z) CPM that delivers an optimized stiffness characteristics with a desired natural frequency of 100 Hz. A working prototype was developed and the experimental investigations show that the synthesized 3-DOF CPM can achieved a large workspace of 8°×8°×5.5 mm, high stiffness ratios, i.e., >200 for non-actuating over actuating stiffness, and a measured natural frequency of 84.4 Hz.
Starting Page	131
Ending Page	139
Page Count	9
File Format	PDF HTM / HTML
DOI	10.1016/j.precisioneng.2016.07.014
Volume Number	47
Alternate Webpage(s)	https://danielteodesigntechnology.files.wordpress.com/2011/06/spatial_motion_compliant_mechanism_pe2016.pdf
Alternate Webpage(s)	https://dr.ntu.edu.sg/bitstream/handle/10220/44169/Synthesis%20of%20multiple%20degrees-of-freedom%20spatial-motion%20compliant%20parallel%20mechanisms.pdf?isAllowed=y&sequence=1
Language	English
Access Restriction	Open
Content Type	Text
Resource Type	Article

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